Hierarchical control of flexible robots

M. Hermle, W. Schiehlen
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Abstract

A hierarchical control for flexible manipulators is presented in this paper. The equations of motion are derived using the miltibody system method. Exploiting the structure of the dynamic model, the control concept allows to combine any given joint level control for the gross motion of the manipulator with a decentralized linear control of the elastic deformation of each flexible link. In order to verify the control strategy proposed, a SCARA robot with one flexible link is considered.
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柔性机器人的层次控制
提出了一种柔性机械臂的层次控制方法。采用多体系统方法推导了运动方程。利用动力学模型的结构,控制概念允许将机械臂总运动的任意给定关节水平控制与每个柔性连杆弹性变形的分散线性控制相结合。为了验证所提出的控制策略,以具有单柔性连杆的SCARA机器人为例进行了研究。
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